feat(trajectory_validator): filter collision objects by shape by satoshi-ota · Pull Request #3248 · tier4/autoware_universe

satoshi-ota · 2026-07-27T03:43:38Z

Summary

This PR adds shape-type based filtering to the trajectory validator collision check filter.

Objects can now be included or excluded from DRAC/RSS collision assessment per object class based on autoware_perception_msgs/msg/Shape.type.

Changes

Add per-class collision target shape parameters for DRAC and RSS.
- Supported values: bbox, polygon
- Disabled classes are represented as [""] because ROS 2 parameter YAML cannot infer the type of [].
Parse the string-array parameters into C++ flags:
- bbox=true/false
- polygon=true/false
Set defaults:
- DRAC base: [bbox]
- RSS base: [bbox, polygon]
Allow class-specific overrides through validator.param.yaml.
Skip unsupported Shape.type values without throwing, and emit a warning instead.
Update the parameter schema to allow [base] fallback and [""] disabled-class configuration.

Verification

TEST CASE1

    collision_check:
      ...
        enable_assessment:
          base: [bbox]
          unknown: [polygon]
          over_drivable: [bbox, polygon]
          under_drivable: [""]

[autoware_trajectory_selector_node-27] [INFO 1785195520.512731333] [CollisionCheckFilter]: DRAC collision target shape types: class=animal, bbox=true, polygon=false                                                                                                                                                                                                                                                             
[autoware_trajectory_selector_node-27] [INFO 1785195520.512750638] [CollisionCheckFilter]: DRAC collision target shape types: class=base, bbox=true, polygon=false                                                                                                                                                                                                                                                               
[autoware_trajectory_selector_node-27] [INFO 1785195520.512753707] [CollisionCheckFilter]: DRAC collision target shape types: class=bicycle, bbox=true, polygon=false                                                                                                                                                                                                                                                            
[autoware_trajectory_selector_node-27] [INFO 1785195520.512756318] [CollisionCheckFilter]: DRAC collision target shape types: class=bus, bbox=true, polygon=false                                                                                                                                                                                                                                                                
[autoware_trajectory_selector_node-27] [INFO 1785195520.512758732] [CollisionCheckFilter]: DRAC collision target shape types: class=car, bbox=true, polygon=false                                                                                                                                                                                                                                                                
[autoware_trajectory_selector_node-27] [INFO 1785195520.512761120] [CollisionCheckFilter]: DRAC collision target shape types: class=hazard, bbox=true, polygon=false                                                                                                                                                                                                                                                             
[autoware_trajectory_selector_node-27] [INFO 1785195520.512763758] [CollisionCheckFilter]: DRAC collision target shape types: class=motorcycle, bbox=true, polygon=false                                                                                                                                                                                                                                                         
[autoware_trajectory_selector_node-27] [INFO 1785195520.512765890] [CollisionCheckFilter]: DRAC collision target shape types: class=over_drivable, bbox=true, polygon=true                                                                                                                                                                                                                                                       
[autoware_trajectory_selector_node-27] [INFO 1785195520.512768346] [CollisionCheckFilter]: DRAC collision target shape types: class=pedestrian, bbox=true, polygon=false                                                                                                                                                                                                                                                         
[autoware_trajectory_selector_node-27] [INFO 1785195520.512770540] [CollisionCheckFilter]: DRAC collision target shape types: class=trailer, bbox=true, polygon=false                                                                                                                                                                                                                                                            
[autoware_trajectory_selector_node-27] [INFO 1785195520.512773122] [CollisionCheckFilter]: DRAC collision target shape types: class=truck, bbox=true, polygon=false                                                                                                                                                                                                                                                              
[autoware_trajectory_selector_node-27] [INFO 1785195520.512775617] [CollisionCheckFilter]: DRAC collision target shape types: class=under_drivable, bbox=false, polygon=false                                                                                                                                                                                                                                                    
[autoware_trajectory_selector_node-27] [INFO 1785195520.512778498] [CollisionCheckFilter]: DRAC collision target shape types: class=unknown, bbox=false, polygon=true

TEST CASE2

    collision_check:
      ...
        enable_assessment:
          base: [""]
          unknown: [polygon]
          over_drivable: [bbox, polygon]
          under_drivable: [bbox]

[autoware_trajectory_selector_node-27] [INFO 1785195670.984174633] [CollisionCheckFilter]: DRAC collision target shape types: class=animal, bbox=false, polygon=false                                                                                                                                                                                                                                                            
[autoware_trajectory_selector_node-27] [INFO 1785195670.984179530] [CollisionCheckFilter]: DRAC collision target shape types: class=base, bbox=false, polygon=false                                                                                                                                                                                                                                                              
[autoware_trajectory_selector_node-27] [INFO 1785195670.984182139] [CollisionCheckFilter]: DRAC collision target shape types: class=bicycle, bbox=false, polygon=false                                                                                                                                                                                                                                                           
[autoware_trajectory_selector_node-27] [INFO 1785195670.984184549] [CollisionCheckFilter]: DRAC collision target shape types: class=bus, bbox=false, polygon=false                                                                                                                                                                                                                                                               
[autoware_trajectory_selector_node-27] [INFO 1785195670.984186862] [CollisionCheckFilter]: DRAC collision target shape types: class=car, bbox=false, polygon=false                                                                                                                                                                                                                                                               
[autoware_trajectory_selector_node-27] [INFO 1785195670.984189228] [CollisionCheckFilter]: DRAC collision target shape types: class=hazard, bbox=false, polygon=false                                                                                                                                                                                                                                                            
[autoware_trajectory_selector_node-27] [INFO 1785195670.984191625] [CollisionCheckFilter]: DRAC collision target shape types: class=motorcycle, bbox=false, polygon=false                                                                                                                                                                                                                                                        
[autoware_trajectory_selector_node-27] [INFO 1785195670.984194084] [CollisionCheckFilter]: DRAC collision target shape types: class=over_drivable, bbox=true, polygon=true                                                                                                                                                                                                                                                       
[autoware_trajectory_selector_node-27] [INFO 1785195670.984196284] [CollisionCheckFilter]: DRAC collision target shape types: class=pedestrian, bbox=false, polygon=false                                                                                                                                                                                                                                                        
[autoware_trajectory_selector_node-27] [INFO 1785195670.984198620] [CollisionCheckFilter]: DRAC collision target shape types: class=trailer, bbox=false, polygon=false                                                                                                                                                                                                                                                           
[autoware_trajectory_selector_node-27] [INFO 1785195670.984200966] [CollisionCheckFilter]: DRAC collision target shape types: class=truck, bbox=false, polygon=false                                                                                                                                                                                                                                                             
[autoware_trajectory_selector_node-27] [INFO 1785195670.984203368] [CollisionCheckFilter]: DRAC collision target shape types: class=under_drivable, bbox=true, polygon=false                                                                                                                                                                                                                                                     
[autoware_trajectory_selector_node-27] [INFO 1785195670.984205807] [CollisionCheckFilter]: DRAC collision target shape types: class=unknown, bbox=false, polygon=true

TEST CASE3

    collision_check:
      ...
        enable_assessment:
          base: [bbox, polygon]
          unknown: [polygon]
          pedestrian: [""]
          under_drivable: [bbox]

[autoware_trajectory_selector_node-27] [INFO 1785195899.934402129] [CollisionCheckFilter]: DRAC collision target shape types: class=animal, bbox=true, polygon=true                                                                                                                                                                                                                                                              
[autoware_trajectory_selector_node-27] [INFO 1785195899.934407557] [CollisionCheckFilter]: DRAC collision target shape types: class=base, bbox=true, polygon=true                                                                                                                                                                                                                                                                
[autoware_trajectory_selector_node-27] [INFO 1785195899.934410266] [CollisionCheckFilter]: DRAC collision target shape types: class=bicycle, bbox=true, polygon=true                                                                                                                                                                                                                                                             
[autoware_trajectory_selector_node-27] [INFO 1785195899.934412594] [CollisionCheckFilter]: DRAC collision target shape types: class=bus, bbox=true, polygon=true                                                                                                                                                                                                                                                                 
[autoware_trajectory_selector_node-27] [INFO 1785195899.934414677] [CollisionCheckFilter]: DRAC collision target shape types: class=car, bbox=true, polygon=true                                                                                                                                                                                                                                                                 
[autoware_trajectory_selector_node-27] [INFO 1785195899.934417140] [CollisionCheckFilter]: DRAC collision target shape types: class=hazard, bbox=true, polygon=true                                                                                                                                                                                                                                                              
[autoware_trajectory_selector_node-27] [INFO 1785195899.934419535] [CollisionCheckFilter]: DRAC collision target shape types: class=motorcycle, bbox=true, polygon=true                                                                                                                                                                                                                                                          
[autoware_trajectory_selector_node-27] [INFO 1785195899.934422090] [CollisionCheckFilter]: DRAC collision target shape types: class=over_drivable, bbox=true, polygon=true                                                                                                                                                                                                                                                       
[autoware_trajectory_selector_node-27] [INFO 1785195899.934424363] [CollisionCheckFilter]: DRAC collision target shape types: class=pedestrian, bbox=false, polygon=false                                                                                                                                                                                                                                                        
[autoware_trajectory_selector_node-27] [INFO 1785195899.934427018] [CollisionCheckFilter]: DRAC collision target shape types: class=trailer, bbox=true, polygon=true                                                                                                                                                                                                                                                             
[autoware_trajectory_selector_node-27] [INFO 1785195899.934429637] [CollisionCheckFilter]: DRAC collision target shape types: class=truck, bbox=true, polygon=true                                                                                                                                                                                                                                                               
[autoware_trajectory_selector_node-27] [INFO 1785195899.934432234] [CollisionCheckFilter]: DRAC collision target shape types: class=under_drivable, bbox=true, polygon=false                                                                                                                                                                                                                                                     
[autoware_trajectory_selector_node-27] [INFO 1785195899.934434777] [CollisionCheckFilter]: DRAC collision target shape types: class=unknown, bbox=false, polygon=true

github-actions · 2026-07-27T03:43:55Z

@satoshi-ota Thank you for contributing to TIER IV E2E branch! Edit the checklist below and check the boxes as you complete the items.

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Please check the following points before merging:

Write a brief description of this PR that can be understood by coding-agents.
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Recommend to use Squash and Merge to merge the PR.
Report in #team-product-dev channel on the contents of the PR. @ branch manager.

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Please check the following points after merging:

Wait for the automatic hash synchronization, which will automatically create a PR to update the hash, you should check the PR and merge it.

yuki-takagi-66

動いてはいることは理解できましたが、パースアルゴリズムが紛らわしすぎるように思います。
何かしら設計変更をお願いしたいです。

yuki-takagi-66 · 2026-07-28T06:44:57Z

      return static_cast<OutT>(label_value.empty() ? params_struct.base : label_value);
+    } else if constexpr (std::is_same_v<OutT, std::vector<std::string>>) {
+      return static_cast<OutT>(
+        label_value.size() == 1U && label_value.front() == kCollisionCheckParamBaseKey


”base”はkey stringです。value側にいれるものではありません。
相当confusingです。

yuki-takagi-66 · 2026-07-28T06:45:09Z

    },
+    "target_shapes_override": {
+      "type": "array",
+      "default": ["base"],


”base”はkey stringです。value側にいれるものではありません。
相当confusingです。

yuki-takagi-66

メモ：空文字と空配列とで、「対象shape_typeなし」と「有効値なし」とを区別している

mergify · 2026-07-29T07:16:41Z

Tick the box to add this pull request to the merge queue (same as @mergifyio queue).

Queue this pull request

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

sonarqubecloud · 2026-07-30T00:25:15Z

Quality Gate passed

Issues
3 New issues
0 Accepted issues

Measures
0 Security Hotspots
0.0% Coverage on New Code
0.0% Duplication on New Code

See analysis details on SonarQube Cloud

…autoware_universe#3248) * feat(trajectory_validator): filter collision objects by shape * fix(trajectory_validator): filter target shapes during assessment * chore(trajectory_validator): set collision shape defaults in config * refactor(trajectory_validator): pass shape type to target filter * fix(trajectory_validator): fallback shape filters to base * fix(trajectory_validator): fallback shape filters without base value * fix: pre commit Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> --------- Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

tier4-autoware-public-bot Bot added beta/v0.64 Base branch: beta/v0.64 diffusion_planner Product: diffusion_planner labels Jul 27, 2026

satoshi-ota force-pushed the feat/trajectory-validator-shape-filter branch 4 times, most recently from 2514af5 to cdef173 Compare July 27, 2026 05:36

satoshi-ota marked this pull request as ready for review July 27, 2026 05:43

satoshi-ota force-pushed the feat/trajectory-validator-shape-filter branch 2 times, most recently from 6d9848b to ab88aaa Compare July 28, 2026 05:31

yuki-takagi-66 requested changes Jul 28, 2026

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yuki-takagi-66 approved these changes Jul 29, 2026

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satoshi-ota force-pushed the feat/trajectory-validator-shape-filter branch from 9cdb387 to 66dc9ae Compare July 29, 2026 08:12

satoshi-ota added the run:build-and-test-differential After beta/v0.41 label Jul 29, 2026

satoshi-ota added 6 commits July 29, 2026 21:16

feat(trajectory_validator): filter collision objects by shape

ea40fe8

fix(trajectory_validator): filter target shapes during assessment

be00ec3

chore(trajectory_validator): set collision shape defaults in config

4f29622

refactor(trajectory_validator): pass shape type to target filter

d692b36

fix(trajectory_validator): fallback shape filters to base

185debd

fix(trajectory_validator): fallback shape filters without base value

69b1fe5

satoshi-ota force-pushed the feat/trajectory-validator-shape-filter branch from 66dc9ae to 69b1fe5 Compare July 29, 2026 12:29

satoshi-ota added run:build-and-test-differential After beta/v0.41 and removed run:build-and-test-differential After beta/v0.41 labels Jul 29, 2026

fix: pre commit

a488bb3

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

satoshi-ota added run:build-and-test-differential After beta/v0.41 and removed run:build-and-test-differential After beta/v0.41 labels Jul 29, 2026

satoshi-ota merged commit 7423d4d into feat/v0.64/e2e Jul 30, 2026
42 of 46 checks passed

satoshi-ota deleted the feat/trajectory-validator-shape-filter branch July 30, 2026 04:19

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feat(trajectory_validator): filter collision objects by shape - #3248

feat(trajectory_validator): filter collision objects by shape#3248
satoshi-ota merged 7 commits into
feat/v0.64/e2efrom
feat/trajectory-validator-shape-filter

satoshi-ota commented Jul 27, 2026 •

edited

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satoshi-ota commented Jul 27, 2026 • edited Loading Uh oh! There was an error while loading. Please reload this page.

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Summary

Changes

Verification

TEST CASE1

TEST CASE2

TEST CASE3

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github-actions Bot commented Jul 27, 2026

Things to check before merging

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satoshi-ota commented Jul 27, 2026 •

edited

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